CN109062244A - A kind of system and method based on marine eco-environment inspection - Google Patents
A kind of system and method based on marine eco-environment inspection Download PDFInfo
- Publication number
- CN109062244A CN109062244A CN201810651427.6A CN201810651427A CN109062244A CN 109062244 A CN109062244 A CN 109062244A CN 201810651427 A CN201810651427 A CN 201810651427A CN 109062244 A CN109062244 A CN 109062244A
- Authority
- CN
- China
- Prior art keywords
- inspection
- underwater unmanned
- underwater
- data
- unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
一种海洋生态环境巡检系统和方法，所述系统包括水下无人航行器、无人机和数据处理设备。所述水下无人航行器，被配置为自主行驶到预设巡检区域，监测该预设巡检区域内海底环境的数据；所述无人机，搭载于所述水下无人航行器上，在所述水下无人航行器行驶至所述预设巡检区域后被发射，该无人机被发射后用于获取所述预设巡检区域内海面的画面数据，并将该画面数据传输至所述水下无人航行器。所述水下无人航行器还用于将所述画面数据传输至数据处理设备。与传统的海洋生态环境巡检活动相比，该系统具有巡检效率高、巡查范围大、成本低、实效性强、人员系数高等优点。
A marine ecological environment inspection system and method, the system includes an underwater unmanned vehicle, a drone and data processing equipment. The underwater unmanned aerial vehicle is configured to drive autonomously to a preset inspection area, and monitor the data of the seabed environment in the preset inspection area; the unmanned aerial vehicle is carried on the underwater unmanned aerial vehicle Above, the underwater unmanned aerial vehicle is launched after it travels to the preset inspection area, and the drone is used to obtain the picture data of the sea surface in the preset inspection area after being launched, and the The picture data is transmitted to the underwater unmanned vehicle. The underwater unmanned vehicle is also used to transmit the picture data to a data processing device. Compared with the traditional marine ecological environment inspection activities, the system has the advantages of high inspection efficiency, large inspection scope, low cost, strong effectiveness, and high personnel coefficient.
Description
Technical field
The present invention relates to a kind of system and method for marine eco-environment inspection, and in particular to a kind of underwater unmanned vehicle
With the integrated marine environment cruising inspection system of unmanned plane and method, belong to marine environmental monitoring equipment and systems technology field.
Background technique
China uses activities, the functional government departments such as marine illegal fishing, illegal dumping rubbish, illegal blowdown at present
Personnel participate in, the management of fragment area, periodically joint takes fisheries administration ship law enforcement inspection, and can not be simultaneously to marine environment, water quality, petroleum
And burning line is monitored, this routine inspection mode labor intensive, material resources, financial resources are huge, low efficiency, and range is small for inspection, actual effect
Property is poor, while personnel safety factor is low；
If necessary to be monitored to seabed ecological environment, water quality, petroleum and burning line, then in addition special arrange is needed
Number indicating a ship's order of departure small range carries water quality monitor, submerged pipeline monitoring device is monitored, and this underwater ECOLOGICAL ENVIRONMENTAL MONITORING mode is supervised
Survey range is small, and the sample of sampling does not have representativeness, to accomplish region of patrolling and examining all standing, it is necessary to it takes considerable time, for
Secondary pollution caused by completed region of patrolling and examining can only wait the inspection activity in next period to be possible to be monitored, patrol
It examines efficiency and actual effect is low.
It is therefore desirable to propose a kind of system and method for new marine ecology inspection, solve the above problems.
Summary of the invention
The disclosure is designed to provide a kind of marine eco-environment cruising inspection system and method, and then at least to a certain degree
On overcome the problems, such as caused by the limitation and defect due to the relevant technologies one or more.
According to the first aspect of the embodiments of the present disclosure, a kind of system of marine eco-environment inspection is provided, comprising:
Underwater unmanned vehicle, unmanned plane and data processing equipment；
The underwater unmanned vehicle carries out inspection according to the task that presets to pre- inspection sea area, and by inspection number
According to being transferred to data processing equipment；
The UAV flight passes through underwater unmanned vehicle in predeterminable area and sends out on the underwater unmanned vehicle
It is mapped in the air, the unmanned plane carries out inspection according to the task that presets to pre- inspection sea area, and inspection data are transmitted
To underwater unmanned vehicle or data processing equipment；
The data processing equipment is used to receive the monitoring data that unmanned plane and underwater unmanned vehicle are sent, and to the prison
Measured data is analyzed and is handled.
In embodiment of the disclosure, the underwater unmanned vehicle includes bearing structure and housing unit, Powered Propulsion
Unit, navigation control unit, communication positioning are supervised with data relay unit, wind direction test with transmitting unit, video surveillance and water quality
Survey unit.
In embodiment of the disclosure, the housing unit includes fore body bay section, master control bay section, transmitting bay section, stern cabin
Section；The communication positioning and data relay unit include antenna communication apparatus and optical-fibre communications equipment, the antenna communication apparatus
It is communicated wirelessly for underwater unmanned vehicle and the data processing equipment on unmanned plane or working mother boat, the optical-fibre communications
Equipment carries out wire communication between the data processing equipment on underwater unmanned vehicle and working mother boat；Wind direction test with
Transmitting unit includes wind direction tester, launching tube and launcher, the wind direction tester for testing wind direction, the launching tube and
Launcher is for emitting unmanned plane.
In embodiment of the disclosure, the video surveillance and water quality monitoring unit include video equipment, depth transducer
And water quality monitor, the video equipment, depth transducer and water quality monitor are for monitoring underwater picture, to seabed ecology ring
Border, water quality, petroleum and burning line are monitored.
In embodiment of the disclosure, the unmanned plane includes unmanned plane body and fold unit, Powered Propulsion unit, lead
Boat control unit, data chain element, video surveillance unit, wherein described fold the folding wing that unit includes unmanned plane, institute
Powered Propulsion unit is stated for providing power to unmanned plane, the navigation control unit be used to control the lift-off of unmanned plane, flight,
Land navigation route, and the data chain element is used for transmission data, and the video surveillance unit is for monitoring ocean surface and sky
Middle picture.
According to the second aspect of an embodiment of the present disclosure, a kind of marine eco-environment method for inspecting is provided, comprising:
Underwater unmanned vehicle and unmanned plane self-test simultaneously carry out task setting to it；Underwater unmanned vehicle enter water and according to
Task setting is monitored in pre- region of patrolling and examining；Transmitting unmanned plane is simultaneously monitored according to task setting in pre- region of patrolling and examining；Underwater nothing
The monitoring data transfer and passback of people's aircraft and unmanned plane；Underwater unmanned vehicle and unmanned plane make a return voyage；It is returned to what is received
Data are passed to be analyzed and handled.
In embodiment of the disclosure, the underwater unmanned vehicle self-test includes to pressure-resistant cabin monitoring, modules work
Make status monitoring, monitoring cell electricity quantity and communication state monitoring；It is described that underwater unmanned vehicle and unmanned plane are appointed
Business setting, including underwater unmanned autonomous navigation device patrol task setting, routeing, security strategy formulation, data relay are set
It is fixed；Task setting to unmanned plane includes region of patrolling and examining selection, routeing, security strategy is formulated, data transmission modes select.
In embodiment of the disclosure, after completing self-test and task setting, underwater unmanned vehicle is laid by working mother boat,
Underwater unmanned vehicle starts to be navigated by water according to presetting Task Autonomous to pre- region of patrolling and examining；When underwater unmanned vehicle arrival is patrolled in advance
After examining waters range, emission of sea surface unmanned plane is floated up to in the air.
In embodiment of the disclosure, it before underwater unmanned vehicle transmitting unmanned plane, is tested by wind direction test device
Wind direction information is transmitted to underwater unmanned vehicle by wind direction, according to wind direction driving motor and steering engine by underwater unmanned vehicle bow to
It adjusts to the direction for being conducive to unmanned plane transmitting with flying；After the completion of launch readiness, can independently select transmitting unmanned plane or
The instruction issue unmanned plane of the lash ship to be received such as person；After unmanned plane receives firing order, UAV system is powered on, and unmanned plane is led
Boat equipment starts initially to be aligned, the lid on jettisoning launching tube head, and gunpowder boosting, which is powered, lights a fire, and unmanned plane is pushed by gunpowder effect
Launching tube out.
In embodiment of the disclosure, the inspection information obtained in region of patrolling and examining overhead is passed through airborne data link by unmanned plane
It is sent to underwater unmanned vehicle or is transmitted directly to data processing equipment；Underwater unmanned vehicle believes the unmanned plane received
Breath and the information oneself monitored are transferred to data processing equipment by radio transmission apparatus or optical-fibre communications equipment；Data
Processing equipment is connected to after information and data is analyzed and handled, and processing result is presented.
The disclosure using underwater unmanned vehicle and unmanned plane as the carrying platform of marine eco-environment inspection, it is underwater nobody
The characteristics of aircraft can realize that scope of activities is big, carry strong ability, mobility strong, by carrying and emitting unmanned plane, and meanwhile it is right
The activities such as marine illegal fishing, illegal dumping rubbish, illegal blowdown and subsea environment, water quality, petroleum and burning line carry out
Inspection and monitoring.Two subsystem integration work, change traditionally regular visit, small range inspection, single patrol task
Single conventional method for inspecting, so that routing inspection efficiency greatly improves.Also, marine eco-environment cruising inspection system of the present invention can be autonomous
Inspection work is completed, spends a large amount of human and material resources, financial resources to carry out a wide range of joint inspection activity, this system compared to more traditional
Primary investment, executable periodically or non-periodically patrol task, a subtask one working mother boat of about four to five people are patrolled with regard to achievable
Inspection task, substantially reduces routing inspection cost.In addition, the video equipment and monitoring that carry in underwater unmanned vehicle and unmanned plane are set
It is standby, seabed sea inspection work can be completed at the same time.Traditional inspection activity will accomplish region of patrolling and examining all standing, it is necessary to expend a large amount of
Time, the secondary pollution for caused by completed region of patrolling and examining can only wait the inspection activity in next period to be possible to be supervised
It measures and, effective weak, this system is due to routing inspection efficiency height, and then polling period is short, and can carry out secondary inspection, institute at any time
It is effective strong with inspection.And the system participates in inspection without putting into a large amount of personnel, reduces human cost and avoids tradition and patrols
Personnel safety potential problem in inspection.
Detailed description of the invention
Fig. 1 shows marine eco-environment cruising inspection system operation principle schematic diagram of the present invention；
Fig. 2 shows marine eco-environment cruising inspection system composition schematic diagrams of the present invention；
Fig. 3 shows marine eco-environment method for inspecting work flow diagram of the present invention；
Fig. 4 shows underwater unmanned vehicle and unmanned plane schematic diagram of the present invention.
Drawing reference numeral in attached drawing includes: 100- underwater unmanned vehicle, 200- unmanned plane, 101- fore body bay section, 102-
Master control bay section, 103- transmitting bay section, 104- stern bay section, 111- antenna, 112- night indicator light, 113- launching tube, 114- hair
Penetrate frame, 115- wind direction tester, 116- hanging ring, 117- video equipment, 118- depth transducer, 119- water quality monitor, 120-
Navigation equipment, the combination of 121- fin rudder, 122- optical fiber outlet-pipe, 123- propeller.
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to example set forth herein；On the contrary, thesing embodiments are provided so that the disclosure will more
Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.Described feature, knot
Structure or characteristic can be incorporated in any suitable manner in one or more embodiments.
In addition, attached drawing is only the schematic illustrations of the disclosure, it is not necessarily drawn to scale.Identical attached drawing mark in figure
Note indicates same or similar part, thus will omit repetition thereof.Some block diagrams shown in the drawings are function
Energy entity, not necessarily must be corresponding with physically or logically independent entity.These function can be realized using software form
Energy entity, or these functional entitys are realized in one or more hardware modules or integrated circuit, or at heterogeneous networks and/or place
These functional entitys are realized in reason device device and/or microcontroller device.
Embodiment one
The embodiment of the present invention one discloses a kind of system of marine eco-environment inspection, which can reach routing inspection efficiency
The advantages that height, inspection range are big, at low cost, effective strong, personnel's coefficient is high.
The whole composition figure of the marine eco-environment cruising inspection system is as shown in Fig. 2, include underwater unmanned vehicle, unmanned plane
And data processing equipment.Wherein underwater unmanned vehicle can be realized seabed ecological environment, water quality, petroleum and burning line and carry out
Monitoring, and monitoring data are transferred to data processing equipment by communication apparatus；Unmanned plane can illegally be caught, illegally to marine
Dump rubbish, the activities such as illegal blowdown are monitored, monitoring picture and data are transferred to underwater unmanned vehicle or lash ship；
Data processing equipment is used to receive the monitoring data that unmanned plane and underwater unmanned vehicle are sent, and divides the monitoring data
Analysis and processing.
As shown in Figure 2 and Figure 4, the underwater unmanned vehicle 100 includes bearing structure and housing unit, Powered Propulsion list
Member, navigation control unit, safe first-aid unit, communication positioning and data relay unit, wind direction test and transmitting unit, video are supervised
It surveys and water quality monitoring unit, maintenance and support Unit.The housing unit includes fore body bay section 101, master control bay section 102, transmitting
Bay section 103, stern bay section 104, night indicator light 112, hanging ring 116, fin rudder combination 121.The communication positioning and data relay
Unit includes antenna communication apparatus, optical-fibre communications equipment；The wind direction test includes wind direction tester 115, hair with transmitting unit
Shooting cylinder 113, launcher 114；The video surveillance and water quality monitoring unit include video equipment 117, depth transducer 118, water
Matter monitor 119；Navigation control unit includes navigation equipment 120；Powered Propulsion unit includes propeller 123.The safety is anxious
Unit is rescued for when unmanned vehicles 100 encounter extraneous factor or other factors out of control under water, taking over underwater unmanned navigation
The control of device 100 controls underwater unmanned vehicle 100 according to pre-set safety operation.
The hanging ring 116 is used for by laying underwater unmanned vehicle 100 by working mother boat.The antenna communication apparatus is used
It is communicated wirelessly in underwater unmanned vehicle 100 and the data processing equipment on unmanned plane 200 or working mother boat.People's aircraft
100 communicate wirelessly with the data processing equipment on unmanned plane 200 or working mother boat.The antenna communication apparatus can specifically wrap
It includes any one in wireless transport module, GPS module, Beidou module, iridium satellite module and WIFI module (not shown) and connects therewith
The respective antenna 111 connect, in order to realize and unmanned plane 200 or working mother boat on data processing equipment between data it is wireless
Communication.
The optical-fibre communications equipment between the data processing equipment on underwater unmanned vehicle 100 and working mother boat into
Row wire communication.The wind direction tester 115 is for testing wind direction.The launching tube 113 and launcher 114 are for emitting nobody
Machine 200.The video equipment 117, depth transducer 118 and water quality monitor 119 are for monitoring underwater picture, to seabed ecology
Environment, water quality, petroleum and burning line are monitored, and say the number that monitoring data are transferred on lash ship by optical-fibre communications equipment
According to processing equipment.The optical-fibre communications equipment may include optical-fibre communications machine, optical fiber and optical fiber outlet-pipe etc. and its accessory
The optical-fibre communications machine of (not shown), the optical-fibre communications equipment is arranged in the stern bay section of unmanned vehicles under water, the stern
Bay section is additionally provided with optical fiber outlet-pipe 122, which connect with the optical-fibre communications machine, and the other end is from the optical fiber outlet-pipe 122
Stretching is connect with the data processing equipment wire communication on lash ship.Wherein the optical fiber outlet-pipe 122 can play protection to optical fiber
Effect, avoids damaging.
As shown in Fig. 2, the unmanned plane 200 includes unmanned plane body and folding unit, Powered Propulsion unit, Navigation Control
Unit, safe first-aid unit, data chain element, video surveillance unit.The unmanned plane body is the main element of unmanned plane, institute
It states and folds the folding wing that unit is primarily referred to as unmanned plane.The Powered Propulsion unit is used to provide power to unmanned plane.Institute
Navigation control unit is stated for controlling the navigation routes such as the lift-off, flight, landing of unmanned plane.The safe first-aid unit is used for nothing
Man-machine 200 when encountering extraneous factor or other factors and be out of control, the control of adapter tube unmanned plane 200, according to pre-set peace
Full operation controls unmanned plane during flying or landing.The data chain element is used for transmission data.The video surveillance unit is for supervising
Survey ocean surface and aerial picture.
As shown in Fig. 2, the data processing equipment includes underwater unmanned vehicle manipulation unit, underwater unmanned vehicle prison
Measured data processing unit, unmanned plane manipulate unit, unmanned plane monitoring data processing unit.The underwater unmanned vehicle manipulation is single
Member is for manipulating underwater unmanned vehicle 100.The underwater unmanned vehicle monitoring data processing unit is for handling from underwater
The seabed monitoring data that unmanned vehicles receive.The unmanned plane manipulation unit is for manipulating flight, landing of unmanned plane etc.
Movement.The unmanned plane monitoring data processing unit is used to handle the ocean surface received from unmanned plane and aerial monitoring number
According to.
As shown in Figure 1, being the operation principle schematic diagram of the present embodiment marine eco-environment cruising inspection system.Working mother boat transport
Underwater unmanned autonomous navigation device 100 reaches pre- region of patrolling and examining, wherein the unmanned autonomous navigation device 100 is equipped with unmanned plane 200.
After reaching pre- region of patrolling and examining, underwater unmanned vehicle 100 is floated up on sea, is risen and is lifted launcher, and launching tube is opened, and emits nothing
Man-machine 200.The beginning of underwater unmanned vehicle 100 is starting inspection with region of patrolling and examining.And unmanned plane 200 is also in the sky of region of patrolling and examining
Middle flight carries out inspection to activities such as illegal fishing, illegal dumping rubbish, illegal blowdowns from the air by camera, and passes through
Inspection data are sent to underwater unmanned autonomous navigation device 100 by data chain element in real time, and underwater unmanned autonomous navigation device 100 passes through
Video data is transferred to data processing equipment by video transmission equipment or optical-fibre communications equipment at a distance.After the completion of inspection activity,
Unmanned plane 200 and underwater unmanned vehicle 100 start program of making a return voyage, and are finally recycled by working mother boat.
After data processing equipment receives the monitoring data that unmanned plane 200 and underwater unmanned vehicle 100 are transmitted back to, carry out
Necessary data readback and analysis, and say that result is presented.
Embodiment two
As shown in figure 3, being a kind of specific embodiment of marine eco-environment method for inspecting of the present invention.
The marine eco-environment method for inspecting workflow prepares before specifically including that water, enters water navigation and monitoring, hair
It penetrates preparation and transmitting, marine inspection and data back, data relay and makes a return voyage, 6 stages of data processing.
Step S01, underwater unmanned vehicle 100 and 200 self-test of unmanned plane and task setting；
100 self-test of underwater unmanned vehicle, comprising to pressure-resistant cabin monitoring, modules working state monitoring, battery capacity
Monitoring and communication state monitoring etc..According to patrol task, task is carried out to underwater unmanned vehicle 100 and unmanned plane 200
Setting, including underwater unmanned 100 patrol task setting of autonomous navigation device, routeing, security strategy formulation, data relay are set
It is fixed etc.；Task setting to unmanned plane 200 includes region of patrolling and examining selection, routeing, security strategy formulation, data transmission modes
Selection etc..
Step S02, underwater unmanned vehicle enter water and are monitored according to task setting in pre- region of patrolling and examining；
After completing self-test and task setting, underwater unmanned vehicle 100 is laid by hanging ring 116 by working mother boat, under water
Unmanned vehicles 100 start to navigate by water according to presetting Task Autonomous to pre- region of patrolling and examining, and the video carried on the way by itself is set
Seabed ecological environment, water quality, petroleum and burning line are monitored for 117 and water quality monitor 119, and monitoring data are led to
It crosses optical-fibre communications equipment and is transferred to lash ship.
Step S03 emits unmanned plane and monitors according to task setting in pre- region of patrolling and examining；
After underwater unmanned vehicle 100 arrives at pre- inspection waters range, floats up to sea and enter launch readiness, beat
Hatch door is penetrated in exploitation, is risen and is lifted launcher 114, while wind direction test device 115 tests wind direction, and information is transmitted to underwater unmanned vehicle
100, according to wind direction driving motor and steering engine 121, by 100 bow of underwater unmanned vehicle, to adjusting to being conducive to, unmanned plane 200 emits
With the direction of flight.After the completion of launch readiness, it can independently select transmitting unmanned plane 200 or wait the instruction of lash ship to be received
Emit unmanned plane 200.After receiving 200 firing order of unmanned plane, 200 system electrification of unmanned plane, Navigation of Pilotless Aircraft equipment 120 is opened
Begin initially to be aligned, the lid on 113 head of jettisoning launching tube, gunpowder boosting, which is powered, lights a fire, and unmanned plane releases hair by gunpowder active force
Shooting cylinder.Under the action of air force and common navigation control unit, flight path is gradually leveled off, Navigation of Pilotless Aircraft control unit
It controls unmanned plane to start to work from translator, maintains 200 horizontal flight of unmanned plane.Unmanned plane starts to fly according to prebriefed pattern,
Execute default monitoring task.
The monitoring data transfer and passback of step S04, underwater unmanned vehicle and unmanned plane；
The inspection information obtained in region of patrolling and examining overhead is sent to underwater unmanned boat by airborne data link by unmanned plane 200
Row device 100, underwater unmanned vehicle 100 by the information received and the information oneself monitored by radio transmission apparatus or
Optical-fibre communications equipment transfer transmission is to the data processing equipment on working mother boat.Data processing equipment is shown in behaviour after being connected to information
It controls on platform screen.Working mother boat staff can also upload control signal in real time by operation bench, by it is underwater nobody independently navigate
Row device 100 will be given to unmanned plane 200 in signal, to change the currently performed way point of unmanned plane 200, task, execute on new
The task of biography.The inspection information that unmanned plane 200 issues can also be directly by one's own side's law enforcement ship in airborne data link effective range
Only receive.One's own side ship of the unmanned plane when target area overhead obtains inspection information and is sent out information, in communication context
Information only can be received, one's own side's ship is other than law enforcement ship, and there are also underwater unmanned vehicle 100, underwater unmanned vehicles
After 100 receive inspection information, no matter whether law enforcement ship receives inspection information, all sets the wireless transmission being equipped with by itself
Standby or optical-fibre communications device forwards are to law enforcement ship.
Step S05, underwater unmanned vehicle and unmanned plane make a return voyage；
Underwater unmanned autonomous navigation device 100 and unmanned plane independently judge after completing patrol task, in drawing for its navigation system
It leads down, makes a return voyage according to optimal path straight line.At this point, the destination of making a return voyage of underwater unmanned vehicle 100 and unmanned plane is work
Lash ship.During making a return voyage, underwater unmanned vehicle 100 and unmanned plane 200 are modified navigation error by satellite positioning,
It can be remotely controlled by the staff on working mother boat and carry out revision navigation accuracy.This process can be continued until underwater unmanned boat
Row device 100 and unmanned plane 200 return to working mother boat position.
Step S06, data analysis and process.
After data processing equipment receives the monitoring data that underwater unmanned vehicle 100 and unmanned plane 200 are passed back, to data
It is analyzed and is handled, and processing result is presented.
The system and method for marine eco-environment inspection of the present invention have the following beneficial effects:
Carrying platform of the present invention by underwater unmanned vehicle 100 and unmanned plane 200 as marine eco-environment inspection, water
The characteristics of lower unmanned vehicles 200 can realize that scope of activities is big, carry strong ability, mobility strong, by carrying and emitting nobody
Machine, while to activities and subsea environment, water quality, petroleum and combustions such as marine illegal fishing, illegal dumping rubbish, illegal blowdowns
Gas pipeline carries out inspection and monitoring.Two subsystem integration work, change traditionally regular visit, small range inspection, list
The single conventional method for inspecting of secondary patrol task, so that routing inspection efficiency greatly improves.Also, marine eco-environment inspection of the present invention
System can independently complete inspection work, spend a large amount of human and material resources, a wide range of joint inspection of financial resources progress living compared to more traditional
Dynamic, this system is once put into, and periodically or non-periodically patrol task can be performed, one working mother boat of about four to five people of a subtask is just
Achievable patrol task, substantially reduces routing inspection cost.In addition, the video carried in underwater unmanned vehicle 100 and unmanned plane 200
Equipment and monitoring device can be completed at the same time seabed sea inspection work.Traditional inspection activity will accomplish region of patrolling and examining all standing, just
It needs to take considerable time, the secondary pollution for caused by completed region of patrolling and examining, the inspection activity in next period can only be waited
It is possible to be monitored, effective weak, this system is due to routing inspection efficiency height, and then polling period is short, and can open at any time
Secondary inspection is opened up, so inspection is effective strong.And the system participates in inspections without putting into a large amount of personnel, reduce human cost and
Avoid the personnel safety potential problem in traditional inspection.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.Wherein
Unmanned plane belongs to folding wings unmanned plane in the present invention, be conducive to underwater unmanned vehicle transmitting, be singly not limited only to folding wings without
It is man-machine；Wherein data processing equipment may be provided on the working mother boat of execution task, may also set up operation control box on the coast.
The invention is not limited thereto, and all within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should all
Within the protection scope of invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the disclosure, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the disclosure.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
What can be combined in any suitable manner in one or more embodiment or examples.In addition, those skilled in the art can say this
Different embodiments or examples described in bright book are engaged and are combined.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the disclosure
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by appended
Claim is pointed out.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810651427.6A CN109062244A (en) | 2018-06-22 | 2018-06-22 | A kind of system and method based on marine eco-environment inspection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810651427.6A CN109062244A (en) | 2018-06-22 | 2018-06-22 | A kind of system and method based on marine eco-environment inspection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109062244A true CN109062244A (en) | 2018-12-21 |
Family
ID=64820884
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810651427.6A Pending CN109062244A (en) | 2018-06-22 | 2018-06-22 | A kind of system and method based on marine eco-environment inspection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109062244A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110223412A (en) * | 2019-06-12 | 2019-09-10 | 海南大学 | A kind of intelligent inspection system and its method for inspecting towards Ocean Oil And Gas Pipeline |
| CN111245920A (en) * | 2020-01-08 | 2020-06-05 | 中国电子科技集团公司电子科学研究院 | Marine ranching monitoring system |
| CN112061354A (en) * | 2020-08-24 | 2020-12-11 | 西北工业大学 | Autonomous underwater vehicle capable of carrying and recovering unmanned aerial vehicle and unmanned aerial vehicle recovery method |
| CN112102369A (en) * | 2020-09-11 | 2020-12-18 | 陕西欧卡电子智能科技有限公司 | Autonomous inspection method, device and equipment for water surface floating target and storage medium |
| CN113220015A (en) * | 2021-04-08 | 2021-08-06 | 生态环境部华南环境科学研究所 | Method for checking and monitoring sewage draining exit by utilizing optical and infrared thermal imaging |
| CN113473403A (en) * | 2021-05-26 | 2021-10-01 | 中国电波传播研究所（中国电子科技集团公司第二十二研究所） | Seabed base data electromagnetic recovery method based on unmanned aerial vehicle |
| CN113501092A (en) * | 2021-08-19 | 2021-10-15 | 南方科技大学 | Marine survey system |
| CN114987785A (en) * | 2022-05-07 | 2022-09-02 | 中国人民解放军海军航空大学 | Unmanned aerial vehicle submarine projection system capable of submarine projection |
| CN116353861A (en) * | 2022-09-23 | 2023-06-30 | 武汉理工大学 | A cross-media unmanned platform and system that can be separated, recovered, and replenished |
| CN116912063A (en) * | 2023-07-18 | 2023-10-20 | 北控水务(中国)投资有限公司 | Marine environmental protection system |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB520948A (en) * | 1938-11-04 | 1940-05-08 | Francis William King | Improvements in or relating to aircraft |
| CN1830723A (en) * | 2005-03-07 | 2006-09-13 | 甘勃 | Lift-out observation device observing water state by underwater submarine |
| CN1988432A (en) * | 2006-12-27 | 2007-06-27 | 中国科学院上海光学精密机械研究所 | Full-digital space optical communication array signal diversity receiving system |
| CN202453736U (en) * | 2011-12-31 | 2012-09-26 | 沈阳航天新光集团有限公司 | Unmanned aerial vehicle reconnaissance system |
| CN203020547U (en) * | 2012-11-28 | 2013-06-26 | 深圳市顶创科技开发有限公司 | Unmanned early warning airplane for monitoring water bodies and unmanned ship |
| CN204083823U (en) * | 2014-09-19 | 2015-01-07 | 中国船舶重工集团公司第七一九研究所 | Based on the pipeline under the ocean leak detecting device of underwater unmanned vehicle |
| CN104859391A (en) * | 2014-12-19 | 2015-08-26 | 江苏科技大学 | Triphibian unmanned ship |
| CN105253293A (en) * | 2015-10-22 | 2016-01-20 | 镇江顺宇飞行器有限公司 | Small super-short-range unmanned aerial vehicle system provided with folding wings |
| CN106292644A (en) * | 2016-09-29 | 2017-01-04 | 湖北航天技术研究院总体设计所 | The one the most unmanned platform autonomous launch vehicle measurement of aircraft |
| CN106314680A (en) * | 2016-09-23 | 2017-01-11 | 江苏科技大学 | Remote testing system and method for course keeping in ship or ship model wind waves |
| CN107231181A (en) * | 2017-05-03 | 2017-10-03 | 上海交通大学 | A kind of air-sea synergic monitoring system and its application method across medium communication |
| CN107651139A (en) * | 2017-10-23 | 2018-02-02 | 大连理工大学 | A kind of SUAV underwater launcher that may float on the water surface |
| CN107918399A (en) * | 2017-11-06 | 2018-04-17 | 哈尔滨工程大学 | A kind of rapid fusion barrier-avoiding method suitable for underwater robot |
| CN208621968U (en) * | 2018-06-22 | 2019-03-19 | 西安特种飞行器工程研究院有限公司 | A kind of marine eco-environment cruising inspection system and underwater unmanned vehicle |
-
2018
- 2018-06-22 CN CN201810651427.6A patent/CN109062244A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB520948A (en) * | 1938-11-04 | 1940-05-08 | Francis William King | Improvements in or relating to aircraft |
| CN1830723A (en) * | 2005-03-07 | 2006-09-13 | 甘勃 | Lift-out observation device observing water state by underwater submarine |
| CN1988432A (en) * | 2006-12-27 | 2007-06-27 | 中国科学院上海光学精密机械研究所 | Full-digital space optical communication array signal diversity receiving system |
| CN202453736U (en) * | 2011-12-31 | 2012-09-26 | 沈阳航天新光集团有限公司 | Unmanned aerial vehicle reconnaissance system |
| CN203020547U (en) * | 2012-11-28 | 2013-06-26 | 深圳市顶创科技开发有限公司 | Unmanned early warning airplane for monitoring water bodies and unmanned ship |
| CN204083823U (en) * | 2014-09-19 | 2015-01-07 | 中国船舶重工集团公司第七一九研究所 | Based on the pipeline under the ocean leak detecting device of underwater unmanned vehicle |
| CN104859391A (en) * | 2014-12-19 | 2015-08-26 | 江苏科技大学 | Triphibian unmanned ship |
| CN105253293A (en) * | 2015-10-22 | 2016-01-20 | 镇江顺宇飞行器有限公司 | Small super-short-range unmanned aerial vehicle system provided with folding wings |
| CN106314680A (en) * | 2016-09-23 | 2017-01-11 | 江苏科技大学 | Remote testing system and method for course keeping in ship or ship model wind waves |
| CN106292644A (en) * | 2016-09-29 | 2017-01-04 | 湖北航天技术研究院总体设计所 | The one the most unmanned platform autonomous launch vehicle measurement of aircraft |
| CN107231181A (en) * | 2017-05-03 | 2017-10-03 | 上海交通大学 | A kind of air-sea synergic monitoring system and its application method across medium communication |
| CN107651139A (en) * | 2017-10-23 | 2018-02-02 | 大连理工大学 | A kind of SUAV underwater launcher that may float on the water surface |
| CN107918399A (en) * | 2017-11-06 | 2018-04-17 | 哈尔滨工程大学 | A kind of rapid fusion barrier-avoiding method suitable for underwater robot |
| CN208621968U (en) * | 2018-06-22 | 2019-03-19 | 西安特种飞行器工程研究院有限公司 | A kind of marine eco-environment cruising inspection system and underwater unmanned vehicle |
Non-Patent Citations (2)
| Title |
|---|
| 宗思光 等: "空中对水下平台激光声通信技术的探讨", 电光与控制, vol. 16, no. 10, 31 October 2009 (2009-10-31), pages 75 - 79 * |
| 张纪敏: "面向空中—水面协作的自主起降系统设计及控制_张纪敏", 中国优秀硕士学位论文全文数据库（工程科技Ⅱ辑）, no. 2, 15 February 2018 (2018-02-15), pages 20 - 45 * |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110223412A (en) * | 2019-06-12 | 2019-09-10 | 海南大学 | A kind of intelligent inspection system and its method for inspecting towards Ocean Oil And Gas Pipeline |
| CN111245920A (en) * | 2020-01-08 | 2020-06-05 | 中国电子科技集团公司电子科学研究院 | Marine ranching monitoring system |
| CN112061354A (en) * | 2020-08-24 | 2020-12-11 | 西北工业大学 | Autonomous underwater vehicle capable of carrying and recovering unmanned aerial vehicle and unmanned aerial vehicle recovery method |
| CN112102369B (en) * | 2020-09-11 | 2024-04-09 | 陕西欧卡电子智能科技有限公司 | Autonomous inspection method, device, equipment and storage medium for water surface floating target |
| CN112102369A (en) * | 2020-09-11 | 2020-12-18 | 陕西欧卡电子智能科技有限公司 | Autonomous inspection method, device and equipment for water surface floating target and storage medium |
| CN113220015A (en) * | 2021-04-08 | 2021-08-06 | 生态环境部华南环境科学研究所 | Method for checking and monitoring sewage draining exit by utilizing optical and infrared thermal imaging |
| CN113473403A (en) * | 2021-05-26 | 2021-10-01 | 中国电波传播研究所（中国电子科技集团公司第二十二研究所） | Seabed base data electromagnetic recovery method based on unmanned aerial vehicle |
| CN113473403B (en) * | 2021-05-26 | 2024-08-09 | 中国电波传播研究所（中国电子科技集团公司第二十二研究所） | Seabed-based data electromagnetic recovery method based on unmanned aerial vehicle |
| CN113501092A (en) * | 2021-08-19 | 2021-10-15 | 南方科技大学 | Marine survey system |
| CN113501092B (en) * | 2021-08-19 | 2022-12-27 | 南方科技大学 | Marine survey system |
| CN114987785A (en) * | 2022-05-07 | 2022-09-02 | 中国人民解放军海军航空大学 | Unmanned aerial vehicle submarine projection system capable of submarine projection |
| CN116353861A (en) * | 2022-09-23 | 2023-06-30 | 武汉理工大学 | A cross-media unmanned platform and system that can be separated, recovered, and replenished |
| CN116912063A (en) * | 2023-07-18 | 2023-10-20 | 北控水务(中国)投资有限公司 | Marine environmental protection system |
| CN116912063B (en) * | 2023-07-18 | 2024-02-09 | 北控水务(中国)投资有限公司 | Marine environmental protection system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109062244A (en) | A kind of system and method based on marine eco-environment inspection | |
| CN208621968U (en) | A kind of marine eco-environment cruising inspection system and underwater unmanned vehicle | |
| Yang et al. | Survey on the novel hybrid aquatic–aerial amphibious aircraft: Aquatic unmanned aerial vehicle (AquaUAV) | |
| US9193458B2 (en) | Air-to-surface surveillance and/or weapons system and method for air-based inspection and/or engagement of objects on land or sea | |
| CN108583920A (en) | A kind of control method of unmanned plane marine landing platform and UAV Landing | |
| CN205971848U (en) | Novel primary and secondary unmanned aerial vehicle system | |
| RU2653527C1 (en) | Multifunctional unit for underwater technical work implementation | |
| CN112013995A (en) | A rapid measurement system and measurement method of seawater temperature profile based on unmanned aerial vehicle | |
| CN109484664B (en) | Active rapid recovery system and method for fixed-wing unmanned aerial vehicle ship | |
| US20200255145A1 (en) | System and method for underwater deployment of a payload | |
| Nakatani et al. | AUV" TUNA-SAND" and its Exploration of hydrothermal vents at Kagoshima Bay | |
| Fortuna et al. | Using low cost open source UAVs for marine wild life monitoring-Field Report | |
| CN112346477B (en) | Unmanned-vehicle-rotor unmanned aerial vehicle autonomous landing system and method based on unmanned ship | |
| KR20190102487A (en) | Drone containment and method using marine light buoy | |
| US11643207B1 (en) | Aircraft for transporting and deploying UAVs | |
| KR102452044B1 (en) | USV-UAV Collaboration for Development of Marine Environment | |
| CN118550259A (en) | Intelligent unmanned ocean monitoring network system and operation method | |
| CN116353861A (en) | A cross-media unmanned platform and system that can be separated, recovered, and replenished | |
| Eggleston et al. | Development of the brican td100 small uas and payload trials | |
| Pettke et al. | Certification of Unmanned Aircraft (UA) | |
| Abershitz et al. | IAI's Micro/Mini UAV systems-development approach | |
| Su et al. | Design of anti-submarine warfare module for unmanned surface vehicle | |
| Andreev | Continuous Autonomous UAV Inspection for FPSO vessels | |
| CN221954591U (en) | Buoy type magnetic detection unmanned aerial vehicle | |
| CN112578807B (en) | Control method for flight detection ship |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |